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Honda Motor Co., Ltd. Public Relations Division
the Humanoid Robot Design Concept Smoother and More Stable Walking i-WALK Featuring Intelligence Technol ogy New ASIMO Debut Improved Physical Capabilities Improving adaptability to changes in environment Carrying Using Tools Future Dreams for ASIMO 4 5 7 9 11 13 15 17 19 21 23 25 27 31 32 .Robot Development Robot Development Process TECHNOLOGY 1 TECHNOLOGY 2 TECHNOLOGY 3 ASIMO.
Height: 1. fast walking. taking nearly five seconds between steps. Slow Walking & Fast Walking To achieve a fast walking pace. and developed three control techniques. The next step was to attach the legs to a body and create a humanoid robot. 1996.*The "E" in Models E0~E6 stands for ÒExperimental Model. cart pushing and other operations were achieved without wires. input into the robot and experiments were begun.915mm Weight 175kg The robot can turn external electrical and computer switches on and off." *The "P" in Models P1~P3 stands for "Prototype Model. without falling down. P3 The first completely independent. Walking by putting one leg before the other was successfully achieved. The walking mechanism was established with the E5. two-legged humanoid walking robot debuted in December. a two-legged robot was made to walk. 1997. walking up and down stairs. battery. Independent walking. fast walking must be realized. even on steps or sloping surfaces. or to allow walking on uneven surfaces or slopes. all of which were built in. Movement of Center of Gravity Movement of Center of Gravity Slow Walking The 3 Posture Controls Needed for Stable Walking Fast Walking Floor Reaction Control Target ZMP Control Foot Planting Location Control Sole of Foot Sole of Foot During slow walking. two-legged walking.2 km/h on flat surfaces. P2 The world's first self-regulating. The E2 robot achieved fast walking at a speed of 1. In addition to human walking. grab doorknobs. Based on data derived from human walking. Research On Human Walking Achieving Stable Walking Advances in Humanoid Robots . wireless radio and other necessary devices. motor drives. Height: 1. Its smaller size is better suited for use in the human environment. allowing independent operation. Establishing Technology for Stable Walking Honda investigated techniques for stabilizing walking. the center of gravity is not always on the soles of the feet. two-legged humanoid walking robot was completed in September. Human walking was thoroughly researched and analyzed." Start of R&D Examining the Principles of Two-Legged Locomotion Realizing Rapid Two-Legged Walking Completing the Basic Functions of Two-Legged Walking Research on Completely Independent Humanoid Robots First.820mm Weight: 210kg Using wireless techniques. However. Advances in Humanoid Robots P1 Humanoid Robot Model #1 Height: 1. slopes and steps. animal walking and other forms of walking were also studied. Honda's E5 robot achieved stable. The next step was to realize fast. the body's center of gravity remains always centered on the soles of the feet. and pick up and carry things. the torso contained a computer. When body movement is used for smooth. Research was also carried out on coordination between arm and leg movements. it walked very slowly in a straight line.600mm Weight: 130kg Size and weight were reduced by changing component materials and by decentralizing the control system. To increase walking speed. it was necessary to study how human beings walk. and the movement and location of the joints needed for walking were also researched. stable walking in the human living environment. especially on uneven surfaces. a fast walking program was created.
the load increases to 1. research was carried out on human walking on flat ground and on stairs. and skin sensations To "comprehend" the foot's movement during walking. and a speed sensor and gyroscope to determine position. which sense the operating angle of the joints. The knee joint and hip joint are needed for climbing and descending stairs. Contact sensations from the surface come from the foot joints. Experiments and analyses of human walking have shown that when walking speed increases. and this determined the range of movement for each joint. Hip Joint Sensors For Walking Human beings have the following three senses of balance: Knee Joint Speed sensed by the otolith of the inner ear Angular speed sensed by the semicircular canals Deep sensations from the muscles and skin. performed numerous experiments and collected an immense amount of data. the human body's center of gravity was used for reference. as well as for straddling. and feel for surface variations in the lateral direction is enhanced when traversing a slope at an angle. a 6-axis force sensor. .Research On Human Walking The robot's walk is modeled on a human being's In studying the fundamental principles of two-legged walking. Joint movements were measured. and left to right. knee joints and foot joints. Regarding the toes' influence on the walking function. Because the foot joints turn from front to back. Honda researched both human and other forms of walking.4 times body weight.8 times body weight. Leg Dimensions. Torque Exerted on Leg Joints While Walking To determine the ideal torque exerted on the joints while walking. Based on this research. These combine with moveable parts which absorb bending impacts to the joints when the foot contacts the ground.2~1. the impact is 1. At walking speeds of 2~4km/h. muscle power. Leg Joint Placement The human skeleton was used for reference when locating the leg joints. floor reaction increases even when the impact reduction functions are at work. there is stability in the longitudinal direction during normal walking. With the robot. as well as arch structures consisting of toe joints. softening the impact force. Foot Joint Impact Force During Walking Range of Joint Movement Regarding the range of joint movement during walking. Human beings have structural elements such as soft skin and heels. impact-absorbing material on the soles of the feet and compliance controls are used to reduce the impact. the robot system is equipped with a joint angle sensor. the vectors at the joints during human walking and during occasional floor reaction were measured. Honda established fast-walking technology just like a human's. at 8km/h. Weight & Center of Gravity Location To determine the location of each leg's center of gravity. pressure on the soles of the feet. angular speed. The robot system was given many joint functions such as hip joints. it became clear that the location where the toes were attached and the where the heel joint was positioned were very important in determining how the robot's weight was supported.
Target Gravity Floor Reaction Target ZMP Center of Ground Reaction If the robot leans too far over. Floor Reaction Target ZMP=Center of Ground Reaction Falling Force Target Inertial Force Target Total Inertial Force Target Gravity Floor Reaction The intersection of the floor and the axis of the total inertial force has a total inertial force moment of 0. Floor Reaction Control Posture Controls to Achieve Stable Walking Target Inertial Force Floor Reaction Control Firm standing control of the soles of the feet while absorbing floor unevenness. so it is called the Zero Moment Point. Correction of Foot Planting Location Target ZMP Center of Ground Reaction .These combined forces are called the total inertial force. Accordingly. the target ZMP control maintains the robot's stability. if the robot starts to fall forward. However. Foot Planting Location Control Target ZMP Control Recovery Force Target Inertial Force Target Total Inertial Force Upper Torso Acceleration Target Gravity * ZMP = Zero Moment Point: The point when total inertial force is 0. it is influenced by inertial forces caused by the earth's gravity and the acceleration and deceleration of walking. When the Honda robot loses its balance and threatens to fall. the following three control systems operate to prevent the fall and allow continued walking. an ideal walking pattern is created by the computer and the robot's joints are moved accordingly.. misalignment of the target ZMP and the actual floor reaction action point generates a falling force. returning the center of ground reaction to the target ZMP. When the robot walks across uneven ground. forward it will fall. the feet will fall behind the torso.Achieving Stable Walking To achieve stable walking. Control to maintain position by accelerating the upper torso in the direction in which it threatens to fall when the soles of the feet cannot stand firmly. The stepping placement control idealizes the stride to ensure the ideal relationship between torso speed and length of stride is maintained. the actual center of ground reaction shifts to the tip of the toe. For example. in the diagram to the left. and if the robot leans too far forward it will fall. generating a position recovery force. This falling force is comparable to the misalignment of the target ZMP and the center of ground reaction. When the robot is maintaining perfect balance while walking. Another example would be if something caused the robot to lean forward. its walking speed is accelerated forward from the ideal walking pattern. and the ZMP of the ideal walking pattern is called the target ZMP. When the next step is taken in the ideal step length. the tips of the toes would be lowered. Control using side steps to adjust for irregularities in the upper torso caused by target ZMP control. the target position of the upper torso shifts in the direction of acceleration... because the center of ground reaction cannot exceed the scope of the foot sole contact patch there is a limit to the position recovery force. In short.For example. if the tip of the robot's toe steps on a rock. the target ZMP control operates to prevent it from falling. As a result.The point where the floor reaction force operates is called the floor reaction point. the misalignment between the target ZMP and the center of ground reaction is the main cause of loss of balance. the axes of the target total inertial force and the actual floor reaction are the same. ¥Being able to walk stable on stairs or slopes. The total inertial force of the ideal walking pattern is called the target total inertial force.. Target Inertial Force Target Total Inertial Force Misalignment of Target Upper Torso Position Foot Planting Location Control When the target ZMP control operates. Basically. 3 Position-Control Arrangements When the robot is walking. When the robot's foot contacts the ground it is influenced by a reaction from the ground called the floor reaction force. balance is lost and falling force is generated. ¥Not falling down even when the floor is uneven. placing more pressure on them and the actual floor reaction action point would be shifted forward. Target Total Inertial Force Target Gravity Floor Reaction Control Target ZMP Control Foot Planting Location Control Target ZMP Control Floor Reaction Target ZMP=Center of Ground Reaction The floor reaction control absorbs irregularities in the floor and controls the placement of the soles of the feet when falling is imminent. However. ¥Not falling down even when pushed. the axes of the target total inertial force and the actual floor reaction force are out of alignment. The floor reaction control then causes the toe to rise slightly. the target ZMP and the center of ground reaction are the same.As stated above. the target ZMP is shifted rearward from the actual floor reaction action point and a rearward falling force is created which corrects the robot's position. Issues to be address in order to achieve stable walking.
Antenna Basic Structure Movement by Two-Legged Walking Mechanism Data is transmitted between the robot and the operating computer via wireless communication.RT)*1 Elbow joint (F/B) Wrist joint (F/B. correcting for irregularities caused by slippage. Camera Images from the camera show the operator how to direct the robot and detect the target location.L/R. It then calculates the method giving the minimum amount of walking required to move from its present location to the target point. Body The body is made of a very lightweight and tough magnesium alloy.RT) Knee joint: (F/B) Ankle joint: (F/B. .L/R. Work by Two-Armed Mechanism To work in harmony with people and for ease of operation. As in cart pushing. *1 F/B : Forward/Backward U/D : Up/Down L/R : Left/Right RT : Rotation DOF : Degrees of Freedom Compact & Lightweight Light weight and compactness were achieved using lightweight materials and decentralizing the controls.L/R) 3 DOF 1 DOF 3 DOF 7 DOF x 2 arms = 14 DOF Hand Foot 1 DOF x 2 hands = 2 DOF 3 DOF 1 DOF 2 DOF 6 DOF x 2 legs = 12 DOF Actuator A brushless DC servomotor and harmonic drive speed reducer perform the functions of human muscles.Advances in Humanoid Robots Creating a Humanoid Robot After establishing the two-legged walking technology. Degrees of Freedom ( For Human Joints ) Arm Shoulder Joint (F/B. the human wrist joint can move in three directions: up.) Battery The nickel-zinc battery allows approximately 25 minutes of operation. work was begun on combining an upper torso with the legs and developing humanoid robot technology. Gyroscope & Acceleration Sensor These sense body lean and acceleration. 6-Axis Force Sensor Images from the camera show the operator how to direct the robot and detect the target location. left. After the robot estimates its present location and direction. it designates a target point. Passing Through Doorways The robot can open and close doors while passing through doorways. but if the cart encounters some kind of resistance the robot shortens its stride in response to avoid excessive pushing. a camera is used to recognize two markers placed on the floor or other spots. so the robot can negotiate even long stairways continuously without missteps.RT) Grasping movement Pelvis joint (F/B. Climbing/Descending Stairs A 6-axis force sensor is used to measure steps. down. 6-Axis Force Sensor This senses the direction and amount of force on the hand. etc.Studies were carried out to determine what a humanoid robot should be like to function in society and in a human living environment. Height Weight Walking Speed 160cm 130kg 2km/h(Max. so it has three degrees of freedom.U/D. and a prototype model of almost human size was completed. Basic Functions Target Point Movement From the erect position. its steps are regulated in response to the door's opening/closing condition. The gyroscope is used for inertial navigation as it moves to the target point. and twist. right. Degrees of freedom (DOF) are the directions in which the hands and feet can move. Working Via Remote Operation The robot can tighten bolts and perform other tasks with the master arm while sensing hand operating pressure. Carrying Things Each arm can carry up to 2kg while walking. For example. Cart Pushing The robot can push carts at a set speed. it was decided that the robot should have two arms.
ASIMO Features Compact & Lightweight More Advanced Walking Technology Wider Arm Operating Parameters Easy to Operate Friendly Design ASIMO was conceived to function in an actual human living environment in the near future. Using the know-how gained from these prototypes.. It is easy to operate.. . Naming ASIMO .ASIMO Is Born! As exemplified by P2 and P3.Innovation . ASIMO represents the fruition of this pursuit on November 20.Mobility ASIMO stands for Advanced Step in Innovative Mobility... research and development began on new technology for actual use. 2000.. the two-legged walking technology developed by Honda represents a unique approach to the challenge of autonomous locomotion..New Era . has a convenient size and weight and can move freely within the human living environment.. all with a people-friendly design.Stepping .. It means advanced innovative mobility for a new era.
This size allows the robot to operate light switches and door knobs. A height of 120cm makes it easy to communicate with.The People-Friendly Robot. . Small. Useful Size The robot's size was chosen to allow it to operate freely in the human living space and to make it people-friendly. In the Office At Home Switch 1100 Copier 960 Doorknob 900 840 800 Table 700 Kitchen Sink 830 Cart Handle Workbench Keyboard 700 Coffee Table 500 Stairs 180 * The above heights are examples to serve as a reference (mm). Honda feels that a robot height between 120cm and that of an adult is ideal for operating in the human living space. and work at tables and work benches. Its eyes are located at the level of an adult's eyes when the adult is sitting in a chair.
and gave the robot even greater stability in response to sudden movements. the P3 robot combined 20û and 40û walking patterns to turn at 30û. when the P3 robot turned sharply when walking straight. Walking strides (time per step) were limited to only a few variations. Because each walking pattern has a different stride(time per step).Smoother and More Stable Walking The introduction of intelligent. steady speed walking and deceleration-stop walking. all of which was stored as time series data. its movement was awkward because it had to stop to make the turn. . real-time. Earlier Ways of Walking In the past. different. and a slight pause was required during the transition. Composite For example. Turning (Direction-Changing Walking) Turning was accomplished by initiating multiple. Straight (foot lifting with toes upward and landing on heel) When walking in a straight line. the robot followed an ordered pattern of start-acceleration walking. For Robots up to P3 Straight (A) Temporary Pause Turn (B) Temporary Pause Straight (C) Creating Earlier Walking Patterns Earlier walking technology allowed roughly two different walking patterns. different patterns were used for straight walking and for turning. turn-walking patterns based on strides (time per step) stored as time series data. the robot could not change its stride(time per step) flexibly. Start-Acceleration Steady Speed Walking Walking Deceleration-Stop Walking For example. flexible-walking i-WALK technology allowed ASIMO to walk continuously while changing directions.
the stride (time per step) can be freely changed. Creating Prediction Movement Control When human beings walk straight ahead and start to turn a corner. In addition. how much and for how long should the load point be shifted to the outside? Speed & Turning Angle Command (from operating device) Turn desired Future-Behavior Prediction Section Target Walking Pattern Changer Reflective Movement Control ( Earlier stable walking technology ) Posture Control for Stable Walking Motor Drive Floor Reaction Control ¥ Target ZMP Control ¥ Foot Planting Control . OUT Load Point (ZMP) IN Load Point (ZMP) ZMP : Zero Moment Point In addition to changes in foot placement and turning. Robots up to the P3 turned according to combinations of stored walking patterns. As a result. ASIMO now walks more smoothly and more naturally. ASIMO's movements are much more natural. ASIMO can predict its next movement in real time and shift its center of gravity in anticipation. before commencing the turn they shift their center of gravity toward the inside of the turn. ASIMO creates walking patterns in real time and can change foot placement and turning angle at will. ASIMO can move and walk rapidly and smoothly at all times. Straight Ahead Straight Ahead Turning Centrifugal Force Because continuous flexible walking is possible. Thanks to i-WALK technology. Flexible Walking Achieved! Continuous movement is possible without pauses. As a result. Normal Straight-Ahead Walking Center-of-Gravity Shift (Predicted Walking) Center of Gravity Center of Gravity Cornering Intelligent. because stride (time per step) can also be freely changed. Control Block Map from i-WALK Technology Predicted Movement Control ASIMO = i-WALK Technology Predicted amount of center-of-gravity shift If turning continues. it can walk smoothly in many directions. Real-Time. This new two-legged walking technology permits more flexible walking. how much will the center of gravity fall outward? ¥Target Movement Pattern ¥Target Load Shift (Floor impact) Pattern To move the center of gravity to the inside of a turn.Intelligent Real-Time Flexible Walking = i-WALK i-WALK technology features a predicted movement control added to the earlier walking control technology.
etc. 2002 Honda added intelligence technology to ASIMO which is capable of interpreting the postures and gestures of humans and moving independently in response. assessing distance and direction Specifically. : guide visitors to a predetermined location. ASIMO can provide information while executing tasks such as reception duties. Recognition of the distance and direction of movement of multiple objects Network integration Integration with user's network system ASIMO can: : execute functions appropriately based on the user's customer data. informing personnel of the visitor's arrival by transmitting messages and pictures of the visitor's face. Distinguishing sounds ASIMO's ability to identify the source of sounds has been improved. etc. for example. move in the direction they indicate.ASIMO Featuring Intelligence Technol ogy December 5. addressing them by name. follow them. Advanced communication ability thanks to recognition technology Recognition of moving objects Using the visual information captured by the camera mounted in its head. and turn to face the source of the sound. : look at the face of the person speaking. communicating messages to them. recognizing the position of obstacles and avoiding them to prevent collisions. utilizing networks such as the Internet. and even recognize their faces and address them by name. For example. and face in that direction. ASIMO can: : follow the movements of people with its camera. : follow a person. Thus ASIMO can react not only to voice commands. : greet a person when he or she approaches. unusual sounds. ASIMO can interpret the positioning and movement of a hand. : recognize approximately ten different people. Face recognition ASIMO has the ability to recognize faces. ASIMO can: : recognize when its name is called. Distinguish between registered faces. even when ASIMO or the human being is moving. : greet visitors. ASIMO's ability to interact with humans has advanced significantly. and respond. : recognize immobile objects in its path and move around them. ASIMO can: : recognize the faces of people which have been pre-registered. ASIMO can detect the movements of multiple objects. Internet connectivity Movement to an indicated location Recognition of hand movements such as the waving of a hand Accessing information via the Internet. ASIMO can: : recognize an indicated location and move to that location (posture recognition). : shake a person's hand when a handshake is offered (posture recognition). Movement in response to a gesture (posture recognition) Environment recognition Using the visual information. ASIMO is able to assess its immediate environment. : respond to a wave by waving back (gesture recognition). ASIMO is the world's first humanoid robot to exhibit such a broad range of intelligent capabilities. Recognition of postures and gestures Based on visual information. it can greet approaching people. and it can distinguish between voices and other sounds. recognizing postures and gestures. ASIMO can become a provider of news and weather updates. ASIMO can: : stop and start to avoid a human being or other moving object which suddenly appears in its path. Specifically. : recognize sudden. For example. . For example. ready to answer people's questions. such as that of a falling object or a collision. but also to the natural movements of human beings. and guiding them. Further.
RT) Elbow joints (F/B) Wrist joints (U/D. Further. the running capability is dramatically improved. L/R.New ASIMO Debut Honda debuted a new ASIMO humanoid robot which features the ability to pursue key tasks in a real-life environment such as an office and an advanced level of physical capabilities.for example. A new function to carry objects using a cart was also added. L/R RT) Shoulder joints (F/B. L/R) 3 DOF 1 DOF 2 DOF 6 DOF x 2 legs = 12 DOF TOTAL 34 DOF *1 F/B : U/D : L/R : RT : DOF: Forward/Backward Up/Down Left/Right Rotation Degrees of Freedom 3 DOF 1 DOF 23 24 . with ASIMO now capable of running at a speed of 6km/hour and of running in a circular pattern Major Advancement of New ASIMO Improved Running Ability Enhanced Ability to Act in Sync With People Function to Carry Objects Using Tools 1300mm 370mm Total Height Weight Running Speed (Straight) Running Speed (Circular Pattern) Walking Speed (Normal) Walking Speed (While Carrying ObjectWith) 130cm 54kg 6 km/h 5 km/h (2. U/D. L/R. the development of a "total control system" enables ASIMO to automatically perform the tasks of a receptionist or information guide and carry out delivery service. RT) Knee joints (F/B) Ankle joints (F/B. Compared to the previous model. RT) 3 DOF 1 DOF 3 DOF 7 DOF x 2 arms = 14 DOF Hands 4 fingers (to grasp objects) / Thumb 2 DOF 2 DOF x 2 hands = 4 DOF Hip Legs RT Crotch joint (F/B. In addition.7 km/h 1. the new ASIMO achieves the enhanced ability to act in sync with people . walking with a person while holding hands.6 km/h (carrying object weighing 1kg) Degrees of Freedom (The human joint has one degree of freedom for each range of movement ) Head Arm Neck joint (U/D.5m radius) 2.
N ew T echnology in A SIMO Improved physical capabilities Further advanced walking function To maintain balance while increasing walking speed and preventing the feet from slipping or rotating in mid-air. absorbing the instantaneous impact shock of landing. highly-responsive and high-power motor drive unit. Combining Honda's independently developed theory of bipedal walking control with proactive bending and twisting of the torso. it had to be able to repeat the movements of pushing off the ground. This has enabled ASIMO to run at 6 km/h. The tilting.2 to 0. High Speed Running There were two challenges in making ASIMO run. This allows ASIMO to conduct flexible and rapid movements using the entire body while maintaining its overall body balance. and the other was to prevent the rotation and slipping as a result of the increased speed.08sec *Distance ASIMO moves forward while both feet are off the ground 25 26 . Ground Reaction Force (G) Landing: 0. When a human runs. and landing within a very short time cycle and without any delay. spinning and slipping are more likely to happen right before the foot leaves the floor and right after the foot lands on the floor. and also improved the walking speed to 2.3 0. we developed new posture control logic that employs active use of the bending and twisting of the upper body.05 to 0.32 seconds with an leap time of 0.4 seconds depending on one's speed. High-Speed Running Turn in a Circular Pattern Running in a circular pattern at high speed was achieved by tilting the center of gravity of ASIMO's body inside of the circle to maintain balance with the amount of centrifugal force experienced. varies between 0. the step cycle is 0.4 Time (seconds) Prevention of spinning and slipping Due to reduced pressure between the bottom of the feet and floor. One was to obtain an accurate jump function and absorb shock when landing.08seconds 1 Bend Down 0 0 0. ASIMO changes its speed according to the radius of the circle and controls its tilted posture. swinging its legs forward. ASIMO achieved stable running while preventing slipping.08 seconds.1 seconds. Coordination of the Entire Body The development of highly responsive hardware enable ASIMO to freely change speed while it is in motion. which are equivalent to that of a person jogging. The step cycle of ASIMO is 0. when both feet are off the ground. as well as highly responsive hardware. and the leap time.2 0. ASIMO is a hardware equipped with a newly developed high-speed processing circuit.1 Kick-up 0. Accurate leap and absorption of the landing impact In order for ASIMO to run.24 seconds 2 Leap time 0. Speed Stride Leap distance* Leap time 6km/h 525mm 50mm 0.7 km/h. and light-weight and highly rigid leg structure.
The differences are corrected according to the robot's map information. while the infrared sensor identifies the floor markings by adjusting the shutter speed according to brightness.N ew T echnology in A SIMO Improving adaptability to changes in environment Autonomous Continuous Movement ASIMO can maneuver toward its destination without stopping by comparing any deviation between the input map information and the information obtained about the surrounding area from its floor surface sensor. it ASIMO selects a different route using its own judgment. Visual Sensor Ground Sensor Ultrasonic Sensor Ground Sensor Ultrasonic Sensor ASIMO. Ultrasonic Sensor The sonic wave sensors detect obstacles three meters ahead. destination obstacle destination obstacle obstacle destination Ground Sensor A sensing system comprised of a laser sensor and an infrared sensor. including glass that the visual sensor cannot detect. Correcting Its Own Position ASIMO corrects its own positions without stopping based on information obtained from the sensors as it walks and the prememorized map information. 1) Establishes the shortest route from the origin to the destination. start start start Visual Sensor Reads the contour characteristics taken from continuous images of the eye camera (camera with high dynamic range) to distinguish a person. The laser sensor detects the ground surface and any obstacles two meters from its feet. avoiding a person ahead Ultrasonic Sensor Automatic Detour Function When its ground sensor or the visual sensor on its head identifies an obstacle. 27 28 . and evaluates the reliability from the contextual data to identify it accurately as a person. 3) When it finds an obstacle on its alternative route. 2) Diverts to an alternative route when it finds an obstacle on the shortest route it established. ASIMO's Environment Identifying Sensor Visual Sensor Identifying Obstacles ASIMO selectively use its multiple sensors based on its own judgments. it diverts to another alternative route. and adjusts the sensitivity of the sensors according to the surrounding circumstances in order to consistently identify obstacles.
and ASIMO adjusts its own position to face the person. Even with multiple people around. ASIMO adjusts its walking speed. ASIMO detects the strength and direction of the force applied to its hand and adjusts the walking speed and direction. ASIMO identifies the card information and greets appropriate for the person. Walking hand-in-hand With its force sensors on the wrists. ASIMO can shake hands in concert with a person's movement. Attending to a person while specifying the position of the person Based on the information in the IC Communication card ASIMO specifies the position of the person and adjusts its position to attend to them while facing toward that person. Recognizes people Based on the information on the IC Communication Card. therefore a person can walk ASIMO in any direction. Attending to a person while measuring the distance to the person Calculating the relative distance between ASIMO and the person to attend. ASIMO identifies the characteristics and relative position of its target person. ASIMO can determine their positions and who they are.N ew T echnology in A SIMO Improving adaptability to changes in environment Movement in concert with human motion Identifying moving subjects From the characteristics of images obtained from its visual sensor on its head. 8 beams) ASIMO can detect the direction of the human wearing IC communication card. the position of the person is identified. 29 30 . Optical communication area (all directions. Based on customer information pre-registered in the IC communication card. ASIMO can know who is holding the card. ASIMO autonomously selects and executes its tasks. Radio wave communication area According to the information from IC communication card. ASIMO takes steps in any direction according to the strength and direction of the force applied to its hand. During hand shaking. ASIMO moves in concert with a person by taking steps to the direction of the force. IC Communication Card In collaboration with Honda's unique IC communication card. ASIMO extracts multiple moving subjects. Based on the information in the IC Communication card. If the distance becomes too great. ASIMO waits until the person comes closer. Attending to a person while recognizing the person Shakes hands in sync with the person's motion By detecting people's movments through visual sensors in its head and force (kinesthetic) sensors on its wrists. ASIMO recognizes the individual and attends to the person accordingly. ASIMO steps backward when the hand is pushed and steps forward when the hand is pulled. an IC tag with optical communication functions. and identifies the distance and direction to those subjects and likelihood of those subjects being people. and respond to each person individually. Greeting people as they pass by When passing a person who carries an IC communication card.
Handing the tray By detecting the movement of the person through the eye camera in its head and force sensors on its wrists. Walking with the tray While carrying the tray. 31 32 .' Honda's research & development will continue with ASIMO. ASIMO is now capable of carrying heavy objects ASIMO is capable of handling a cart freely while maintaining an appropriate distance from the cart by adjusting the force of its arms to push a cart using the force sensor on its wrists. ASIMO can move in concert with the person and accurately receive or hand over the tray . ASIMO can continue maneuvering by taking flexible actions such as slowing down or changing directions. ASIMO's wrist sensors detect the weight differences on its hands and automatically stop walking before it drops the tray.N ew T echnology in A SIMO Carrying objects while using tools Carrying a tray ASIMO can deliver objects on a tray to a specified destination.) for the future. Aiming for Even More Progress ASIMO will truly be able to help people in the 21st century. Even if the tray slides and is about to fall. Staying true to our Putting the tray on a table When the force sensors on its wrists detect reduction of the load on the wrists as the tray touches the surface of the table. ASIMO uses its entire body to control the tray to prevent spilling of the objects on the tray. By using the entire body to set the tray down. Honda's dream is that ASIMO will help improve life in human society. to realize our dreams Handling a cart It can transport heavy loads by handling a wagon in a flexible manner. Being able to handle a cart freely. 'Challenging Spirit. (The maximum load is 10 kg. ASIMO sets the tray on the table. Even when the movement of the cart is disturbed. ASIMO can work with tables of different heights.
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